OpenRaiser/Intern-Atlas huggingface dataset:
I Know You're Listening: Adaptive Voice for HRI
Venue: arXiv cs.RO 2025
Year: 2025

While the use of social robots for language teaching has been explored, there remains limited work on a task-specific synthesized voices for language teaching robots. Given that language is a verbal task, this gap may have severe consequences for the effectiveness of robots for language teaching tasks. We address this lack of L2 teaching robot voices through three contributions: 1. We address the need for a lightweight and expressive robot voice. Using a fine-tuned version of Matcha-TTS, we use emoji prompting to create an expressive voice that shows a range of expressivity over time. The voice can run in real time with limited compute resources. Through case studies, we found this voice more expressive, socially appropriate, and suitable for long periods of expressive speech, such as storytelling. 2. We explore how to adapt a robot's voice to physical and social ambient environments to deploy our voices in various locations. We found that increasing pitch and pitch rate in noisy and high-energy environments makes the robot's voice appear more appropriate and makes it seem more aware of its current environment. 3. We create an English TTS system with improved clarity for L2 listeners using known linguistic properties of vowels that are difficult for these listeners. We used a data-driven, perception-based approach to understand how L2 speakers use duration cues to interpret challenging words with minimal tense (long) and lax (short) vowels in English. We found that the duration of vowels strongly influences the perception for L2 listeners and created an "L2 clarity mode" for Matcha-TTS that applies a lengthening to tense vowels while leaving lax vowels unchanged. Our clarity mode was found to be more respectful, intelligible, and encouraging than base Matcha-TTS while reducing transcription errors in these challenging tense/lax minimal pairs.
Human Locomotion Implicit Modeling Based Real-Time Gait Phase Estimation
Venue: arXiv cs.RO 2025
Year: 2025

Gait phase estimation based on inertial measurement unit (IMU) signals facilitates precise adaptation of exoskeletons to individual gait variations. However, challenges remain in achieving high accuracy and robustness, particularly during periods of terrain changes. To address this, we develop a gait phase estimation neural network based on implicit modeling of human locomotion, which combines temporal convolution for feature extraction with transformer layers for multi-channel information fusion. A channel-wise masked reconstruction pre-training strategy is proposed, which first treats gait phase state vectors and IMU signals as joint observations of human locomotion, thus enhancing model generalization. Experimental results demonstrate that the proposed method outperforms existing baseline approaches, achieving a gait phase RMSE of $2.729 \pm 1.071%$ and phase rate MAE of $0.037 \pm 0.016%$ under stable terrain conditions with a look-back window of 2 seconds, and a phase RMSE of $3.215 \pm 1.303%$ and rate MAE of $0.050 \pm 0.023%$ under terrain transitions. Hardware validation on a hip exoskeleton further confirms that the algorithm can reliably identify gait cycles and key events, adapting to various continuous motion scenarios. This research paves the way for more intelligent and adaptive exoskeleton systems, enabling safer and more efficient human-robot interaction across diverse real-world environments.
Emergence of Primacy and Recency Effect in Mamba: A Mechanistic Point of View
Venue: arXiv cs.CL 2025
Year: 2025

We study memory in state-space language models using primacy and recency effects as behavioral tools to uncover how information is retained and forgotten over time. Applying structured recall tasks to the Mamba architecture, we observe a consistent U-shaped accuracy profile, indicating strong performance at the beginning and end of input sequences. We identify three mechanisms that give rise to this pattern. First, long-term memory is supported by a sparse subset of channels within the model's selective state space block, which persistently encode early input tokens and are causally linked to primacy effects. Second, short-term memory is governed by delta-modulated recurrence: recent inputs receive more weight due to exponential decay, but this recency advantage collapses when distractor items are introduced, revealing a clear limit to memory depth. Third, we find that memory allocation is dynamically modulated by semantic regularity: repeated relations in the input sequence shift the delta gating behavior, increasing the tendency to forget intermediate items. We validate these findings via targeted ablations and input perturbations on two large-scale Mamba-based language models: one with 1.4B and another with 7B parameters.
Accessible Gesture-Driven Augmented Reality Interaction System
Venue: arXiv cs.HC 2025
Year: 2025

Augmented reality (AR) offers immersive interaction but remains inaccessible for users with motor impairments or limited dexterity due to reliance on precise input methods. This study proposes a gesture-based interaction system for AR environments, leveraging deep learning to recognize hand and body gestures from wearable sensors and cameras, adapting interfaces to user capabilities. The system employs vision transformers (ViTs), temporal convolutional networks (TCNs), and graph attention networks (GATs) for gesture processing, with federated learning ensuring privacy-preserving model training across diverse users. Reinforcement learning optimizes interface elements like menu layouts and interaction modes. Experiments demonstrate a 20% improvement in task completion efficiency and a 25% increase in user satisfaction for motor-impaired users compared to baseline AR systems. This approach enhances AR accessibility and scalability. Keywords: Deep learning, Federated learning, Gesture recognition, Augmented reality, Accessibility, Human-computer interaction
Conquering the Retina: Bringing Visual in-Context Learning to OCT
Venue: arXiv cs.CV 2025
Year: 2025

Recent advancements in medical image analysis have led to the development of highly specialized models tailored to specific clinical tasks. These models have demonstrated exceptional performance and remain a crucial research direction. Yet, their applicability is limited to predefined tasks, requiring expertise and extensive resources for development and adaptation. In contrast, generalist models offer a different form of utility: allowing medical practitioners to define tasks on the fly without the need for task-specific model development. In this work, we explore how to train generalist models for the domain of retinal optical coherence tomography using visual in-context learning (VICL), i.e., training models to generalize across tasks based on a few examples provided at inference time. To facilitate rigorous assessment, we propose a broad evaluation protocol tailored to VICL in OCT. We extensively evaluate a state-of-the-art medical VICL approach on multiple retinal OCT datasets, establishing a first baseline to highlight the potential and current limitations of in-context learning for OCT. To foster further research and practical adoption, we openly release our code.
Multi-Agent Reinforcement Learning for Autonomous Multi-Satellite Earth Observation: A Realistic Case Study
Venue: arXiv cs.AI 2025
Year: 2025

The exponential growth of Low Earth Orbit (LEO) satellites has revolutionised Earth Observation (EO) missions, addressing challenges in climate monitoring, disaster management, and more. However, autonomous coordination in multi-satellite systems remains a fundamental challenge. Traditional optimisation approaches struggle to handle the real-time decision-making demands of dynamic EO missions, necessitating the use of Reinforcement Learning (RL) and Multi-Agent Reinforcement Learning (MARL). In this paper, we investigate RL-based autonomous EO mission planning by modelling single-satellite operations and extending to multi-satellite constellations using MARL frameworks. We address key challenges, including energy and data storage limitations, uncertainties in satellite observations, and the complexities of decentralised coordination under partial observability. By leveraging a near-realistic satellite simulation environment, we evaluate the training stability and performance of state-of-the-art MARL algorithms, including PPO, IPPO, MAPPO, and HAPPO. Our results demonstrate that MARL can effectively balance imaging and resource management while addressing non-stationarity and reward interdependency in multi-satellite coordination. The insights gained from this study provide a foundation for autonomous satellite operations, offering practical guidelines for improving policy learning in decentralised EO missions.
A Comparative Study of Task Adaptation Techniques of Large Language Models for Identifying Sustainable Development Goals
Venue: arXiv cs.CL 2025
Year: 2025

In 2012, the United Nations introduced 17 Sustainable Development Goals (SDGs) aimed at creating a more sustainable and improved future by 2030. However, tracking progress toward these goals is difficult because of the extensive scale and complexity of the data involved. Text classification models have become vital tools in this area, automating the analysis of vast amounts of text from a variety of sources. Additionally, large language models (LLMs) have recently proven indispensable for many natural language processing tasks, including text classification, thanks to their ability to recognize complex linguistic patterns and semantics. This study analyzes various proprietary and open-source LLMs for a single-label, multi-class text classification task focused on the SDGs. Then, it also evaluates the effectiveness of task adaptation techniques (i.e., in-context learning approaches), namely Zero-Shot and Few-Shot Learning, as well as Fine-Tuning within this domain. The results reveal that smaller models, when optimized through prompt engineering, can perform on par with larger models like OpenAI's GPT (Generative Pre-trained Transformer).
New Bounds and Constructions for Variable Packet-Error Coding
Venue: arXiv cs.IT 2025
Year: 2025

In this paper, we consider the problem of variable packet-error coding, which emerges in network communication scenarios where a source transmits information to a destination through multiple disjoint paths. The objective is to design codes with dynamic error-correcting capabilities that adapt to varying numbers of errors. Specifically, we first provide several bounds on the rate--distortion trade-off for general variable packet-error coding schemes. Then, we present two explicit constructions of variable packet-error coding schemes. The first construction uses higher-order MDS codes and provides a coding scheme that achieves a better rate--distortion trade-off compared to known results for general parameter regimes. The second construction is based on a variant of the repetition code and yields a coding scheme with an optimal rate--distortion trade-off, with respect to our bound, for certain parameter regimes.
Dissecting the gender divide: Authorship and acknowledgment in scientific publications
Venue: arXiv cs.DL 2025
Year: 2025

The issue of gender bias in scientific publications has been a topic of ongoing debate. One aspect of this debate concerns whether women receive equal credit for their contributions compared to men. Conventional wisdom suggests that women are more likely to be acknowledged than listed as co-authors. In this study, we analyze data from over 20,000 authors and 60,000 acknowledged individuals across nine disciplines in open-access journals. Our results confirm persistent gender disparities: women are more frequently acknowledged than credited as co-authors, especially in roles involving investigation and analysis. To account for status and disciplinary effects, we examined collaboration pair composed of highly cited and less-cited scholars. In collaborations, highly cited scholars are more likely to be listed as an author regardless of gender. Notably, highly cited women in such pairs are even more likely to be co-authors than their men counterparts. Our findings suggest that power dynamics and perceived success heavily influence the distribution of credit in scientific publishing. These results underscore the role of status dynamics in shaping authorship and call for a more nuanced understanding of how gender, power, and recognition interact in scientific publishing. Our findings offer valuable insights for scholars, editors, and funding committed to advancing equity in science.
TopClustRAG at SIGIR 2025 LiveRAG Challenge
Venue: arXiv cs.CL 2025
Year: 2025

We present TopClustRAG, a retrieval-augmented generation (RAG) system developed for the LiveRAG Challenge, which evaluates end-to-end question answering over large-scale web corpora. Our system employs a hybrid retrieval strategy combining sparse and dense indices, followed by K-Means clustering to group semantically similar passages. Representative passages from each cluster are used to construct cluster-specific prompts for a large language model (LLM), generating intermediate answers that are filtered, reranked, and finally synthesized into a single, comprehensive response. This multi-stage pipeline enhances answer diversity, relevance, and faithfulness to retrieved evidence. Evaluated on the FineWeb Sample-10BT dataset, TopClustRAG ranked 2nd in faithfulness and 7th in correctness on the official leaderboard, demonstrating the effectiveness of clustering-based context filtering and prompt aggregation in large-scale RAG systems.
RAS-Eval: A Comprehensive Benchmark for Security Evaluation of LLM Agents in Real-World Environments
Venue: arXiv cs.CR 2025
Year: 2025

The rapid deployment of Large language model (LLM) agents in critical domains like healthcare and finance necessitates robust security frameworks. To address the absence of standardized evaluation benchmarks for these agents in dynamic environments, we introduce RAS-Eval, a comprehensive security benchmark supporting both simulated and real-world tool execution. RAS-Eval comprises 80 test cases and 3,802 attack tasks mapped to 11 Common Weakness Enumeration (CWE) categories, with tools implemented in JSON, LangGraph, and Model Context Protocol (MCP) formats. We evaluate 6 state-of-the-art LLMs across diverse scenarios, revealing significant vulnerabilities: attacks reduced agent task completion rates (TCR) by 36.78% on average and achieved an 85.65% success rate in academic settings. Notably, scaling laws held for security capabilities, with larger models outperforming smaller counterparts. Our findings expose critical risks in real-world agent deployments and provide a foundational framework for future security research. Code and data are available at https://github.com/lanzer-tree/RAS-Eval.
Multi-Interest Recommendation: A Survey
Venue: arXiv cs.IR 2025
Year: 2025

Existing recommendation methods often struggle to model users' multifaceted preferences due to the diversity and volatility of user behavior, as well as the inherent uncertainty and ambiguity of item attributes in practical scenarios. Multi-interest recommendation addresses this challenge by extracting multiple interest representations from users' historical interactions, enabling fine-grained preference modeling and more accurate recommendations. It has drawn broad interest in recommendation research. However, current recommendation surveys have either specialized in frontier recommendation methods or delved into specific tasks and downstream applications. In this work, we systematically review the progress, solutions, challenges, and future directions of multi-interest recommendation by answering the following three questions: (1) Why is multi-interest modeling significantly important for recommendation? (2) What aspects are focused on by multi-interest modeling in recommendation? and (3) How can multi-interest modeling be applied, along with the technical details of the representative modules? We hope that this survey establishes a fundamental framework and delivers a preliminary overview for researchers interested in this field and committed to further exploration. The implementation of multi-interest recommendation summarized in this survey is maintained at https://github.com/WHUIR/Multi-Interest-Recommendation-A-Survey.
A theory of Lending Protocols in DeFi
Venue: arXiv cs.GT 2025
Year: 2025

Lending protocols are one of the main applications of Decentralized Finance (DeFi), enabling crypto-assets loan markets with a total value estimated in the tens of billions of dollars. Unlike traditional lending systems, these protocols operate without relying on trusted authorities or off-chain enforcement mechanisms. To achieve key economic goals such as stability of the loan market, they devise instead trustless on-chain mechanisms, such as rewarding liquidators who repay the loans of under-collateralized borrowers by awarding them part of the borrower's collateral. The complexity of these incentive mechanisms, combined with their entanglement in low-level implementation details, makes it challenging to precisely assess the structural and economic properties of lending protocols, as well as to analyze user strategies and attacks. Crucially, since participation is open to anyone, any weaknesses in the incentive mechanism may give rise to unintended emergent behaviours, or even enable adversarial strategies aimed at making profits to the detriment of legit users, or at undermining the stability of the protocol. In this work, we propose a formal model of lending protocols that captures the essential features of mainstream platforms, enabling us to identify and prove key properties related to their economic and strategic dynamics.
MEGC2025: Micro-Expression Grand Challenge on Spot Then Recognize and Visual Question Answering
Venue: arXiv cs.CV 2025
Year: 2025

Facial micro-expressions (MEs) are involuntary movements of the face that occur spontaneously when a person experiences an emotion but attempts to suppress or repress the facial expression, typically found in a high-stakes environment. In recent years, substantial advancements have been made in the areas of ME recognition, spotting, and generation. However, conventional approaches that treat spotting and recognition as separate tasks are suboptimal, particularly for analyzing long-duration videos in realistic settings. Concurrently, the emergence of multimodal large language models (MLLMs) and large vision-language models (LVLMs) offers promising new avenues for enhancing ME analysis through their powerful multimodal reasoning capabilities. The ME grand challenge (MEGC) 2025 introduces two tasks that reflect these evolving research directions: (1) ME spot-then-recognize (ME-STR), which integrates ME spotting and subsequent recognition in a unified sequential pipeline; and (2) ME visual question answering (ME-VQA), which explores ME understanding through visual question answering, leveraging MLLMs or LVLMs to address diverse question types related to MEs. All participating algorithms are required to run on this test set and submit their results on a leaderboard. More details are available at https://megc2025.github.io.
A Survey on LLM-Assisted Clinical Trial Recruitment
Venue: arXiv cs.CL 2025
Year: 2025

Recent advances in LLMs have greatly improved general-domain NLP tasks. Yet, their adoption in critical domains, such as clinical trial recruitment, remains limited. As trials are designed in natural language and patient data is represented as both structured and unstructured text, the task of matching trials and patients benefits from knowledge aggregation and reasoning abilities of LLMs. Classical approaches are trial-specific and LLMs with their ability to consolidate distributed knowledge hold the potential to build a more general solution. Yet recent applications of LLM-assisted methods rely on proprietary models and weak evaluation benchmarks. In this survey, we are the first to analyze the task of trial-patient matching and contextualize emerging LLM-based approaches in clinical trial recruitment. We critically examine existing benchmarks, approaches and evaluation frameworks, the challenges to adopting LLM technologies in clinical research and exciting future directions.
One-shot Face Sketch Synthesis in the Wild via Generative Diffusion Prior and Instruction Tuning
Venue: arXiv cs.GR 2025
Year: 2025

Face sketch synthesis is a technique aimed at converting face photos into sketches. Existing face sketch synthesis research mainly relies on training with numerous photo-sketch sample pairs from existing datasets. However, these large-scale discriminative learning methods will have to face problems such as data scarcity and high human labor costs. Once the training data becomes scarce, their generative performance significantly degrades. In this paper, we propose a one-shot face sketch synthesis method based on diffusion models. We optimize text instructions on a diffusion model using face photo-sketch image pairs. Then, the instructions derived through gradient-based optimization are used for inference. To simulate real-world scenarios more accurately and evaluate method effectiveness more comprehensively, we introduce a new benchmark named One-shot Face Sketch Dataset (OS-Sketch). The benchmark consists of 400 pairs of face photo-sketch images, including sketches with different styles and photos with different backgrounds, ages, sexes, expressions, illumination, etc. For a solid out-of-distribution evaluation, we select only one pair of images for training at each time, with the rest used for inference. Extensive experiments demonstrate that the proposed method can convert various photos into realistic and highly consistent sketches in a one-shot context. Compared to other methods, our approach offers greater convenience and broader applicability. The dataset will be available at: https://github.com/HanWu3125/OS-Sketch
MapFM: Foundation Model-Driven HD Mapping with Multi-Task Contextual Learning
Venue: arXiv cs.CV 2025
Year: 2025

In autonomous driving, high-definition (HD) maps and semantic maps in bird's-eye view (BEV) are essential for accurate localization, planning, and decision-making. This paper introduces an enhanced End-to-End model named MapFM for online vectorized HD map generation. We show significantly boost feature representation quality by incorporating powerful foundation model for encoding camera images. To further enrich the model's understanding of the environment and improve prediction quality, we integrate auxiliary prediction heads for semantic segmentation in the BEV representation. This multi-task learning approach provides richer contextual supervision, leading to a more comprehensive scene representation and ultimately resulting in higher accuracy and improved quality of the predicted vectorized HD maps. The source code is available at https://github.com/LIvanoff/MapFM.